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Merge pull request #1806 from erwincoumans/master

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prepare build system(s) for collisionFilterPlugin
This commit is contained in:
erwincoumans
2018-08-03 17:43:13 -07:00
committed by GitHub
parent 7d38cab1aa 97baccd1a5
commit 961d8adad1
23 changed files with 96 additions and 30 deletions
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2
examples/SharedMemory/CMakeLists.txt
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@@ -1,5 +1,7 @@
SET(SharedMemory_SRCS
plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
plugins/collisionFilterPlugin/collisionFilterPlugin.h
plugins/pdControlPlugin/pdControlPlugin.cpp
plugins/pdControlPlugin/pdControlPlugin.h
b3RobotSimulatorClientAPI_NoDirect.cpp

12
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -46,6 +46,10 @@
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
#include "LinearMath/TaskScheduler/btThreadSupportInterface.h"
#ifndef SKIP_COLLISION_FILTER_PLUGIN
#include "plugins/collisionFilterPlugin/collisionFilterPlugin.h"
#endif
#ifndef SKIP_STATIC_PD_CONTROL_PLUGIN
#include "plugins/pdControlPlugin/pdControlPlugin.h"
#endif //SKIP_STATIC_PD_CONTROL_PLUGIN
@@ -1625,6 +1629,8 @@ struct PhysicsServerCommandProcessorInternalData
btScalar m_oldPickingDist;
bool m_prevCanSleep;
int m_pdControlPlugin;
int m_collisionFilterPlugin;
#ifdef B3_ENABLE_TINY_AUDIO
b3SoundEngine m_soundEngine;
#endif
@@ -1662,6 +1668,7 @@ struct PhysicsServerCommandProcessorInternalData
m_pickedConstraint(0),
m_pickingMultiBodyPoint2Point(0),
m_pdControlPlugin(-1),
m_collisionFilterPlugin(-1),
m_threadPool(0)
{
@@ -1677,6 +1684,11 @@ struct PhysicsServerCommandProcessorInternalData
}
#endif //SKIP_STATIC_PD_CONTROL_PLUGIN
#ifndef SKIP_COLLISION_FILTER_PLUGIN
{
m_collisionFilterPlugin = m_pluginManager.registerStaticLinkedPlugin("collisionFilterPlugin", initPlugin_collisionFilterPlugin, exitPlugin_collisionFilterPlugin, executePluginCommand_collisionFilterPlugin, 0,0,0);
}
#endif
#ifndef SKIP_STATIC_TINYRENDERER_PLUGIN
int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("tinyRendererPlugin", initPlugin_tinyRendererPlugin, exitPlugin_tinyRendererPlugin, executePluginCommand_tinyRendererPlugin,0,0,getRenderInterface_tinyRendererPlugin);

24
examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
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@@ -8,22 +8,22 @@
#include "../b3PluginContext.h"
#include <stdio.h>
struct MyClass
struct CollisionFilterMyClass
{
int m_testData;
MyClass()
CollisionFilterMyClass()
:m_testData(42)
{
}
virtual ~MyClass()
virtual ~CollisionFilterMyClass()
{
}
};
B3_SHARED_API int initPlugin_testPlugin(struct b3PluginContext* context)
B3_SHARED_API int initPlugin_collisionFilterPlugin(struct b3PluginContext* context)
{
MyClass* obj = new MyClass();
CollisionFilterMyClass* obj = new CollisionFilterMyClass();
context->m_userPointer = obj;
printf("hi!\n");
@@ -31,21 +31,21 @@ B3_SHARED_API int initPlugin_testPlugin(struct b3PluginContext* context)
}
B3_SHARED_API int preTickPluginCallback_testPlugin(struct b3PluginContext* context)
B3_SHARED_API int preTickPluginCallback_collisionFilterPlugin(struct b3PluginContext* context)
{
//apply pd control here, apply forces using the PD gains
return 0;
}
B3_SHARED_API int postTickPluginCallback_testPlugin(struct b3PluginContext* context)
B3_SHARED_API int postTickPluginCallback_collisionFilterPlugin(struct b3PluginContext* context)
{
MyClass* obj = (MyClass* )context->m_userPointer;
CollisionFilterMyClass* obj = (CollisionFilterMyClass* )context->m_userPointer;
obj->m_testData++;
return 0;
}
B3_SHARED_API int executePluginCommand_testPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
B3_SHARED_API int executePluginCommand_collisionFilterPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
{
//set the PD gains
printf("text argument:%s\n",arguments->m_text);
@@ -69,7 +69,7 @@ B3_SHARED_API int executePluginCommand_testPlugin(struct b3PluginContext* contex
}
printf("]\n");
MyClass* obj = (MyClass*) context->m_userPointer;
CollisionFilterMyClass* obj = (CollisionFilterMyClass*) context->m_userPointer;
b3SharedMemoryStatusHandle statusHandle;
int statusType = -1;
@@ -88,9 +88,9 @@ B3_SHARED_API int executePluginCommand_testPlugin(struct b3PluginContext* contex
}
B3_SHARED_API void exitPlugin_testPlugin(struct b3PluginContext* context)
B3_SHARED_API void exitPlugin_collisionFilterPlugin(struct b3PluginContext* context)
{
MyClass* obj = (MyClass*) context->m_userPointer;
CollisionFilterMyClass* obj = (CollisionFilterMyClass*) context->m_userPointer;
delete obj;
context->m_userPointer = 0;

2
examples/SharedMemory/premake4.lua
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@@ -60,6 +60,7 @@ myfiles =
"PhysicsServerCommandProcessor.h",
"b3PluginManager.cpp",
"b3PluginManager.h",
"plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
"plugins/pdControlPlugin/pdControlPlugin.cpp",
"plugins/pdControlPlugin/pdControlPlugin.h",
"../OpenGLWindow/SimpleCamera.cpp",
@@ -472,4 +473,3 @@ include "plugins/tinyRendererPlugin"
include "plugins/pdControlPlugin"
include "plugins/collisionFilterPlugin"

1
examples/SharedMemory/tcp/premake4.lua
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@@ -93,6 +93,7 @@ myfiles =
"../PhysicsDirect.cpp",
"../PhysicsClientC_API.cpp",
"../PhysicsClient.cpp",
"../plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
"../plugins/pdControlPlugin/pdControlPlugin.cpp",
"../plugins/pdControlPlugin/pdControlPlugin.h",
"../b3RobotSimulatorClientAPI_NoDirect.cpp",

1
examples/SharedMemory/udp/premake4.lua
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@@ -77,6 +77,7 @@ language "C++"
myfiles =
{
"../plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
"../plugins/pdControlPlugin/pdControlPlugin.cpp",
"../plugins/pdControlPlugin/pdControlPlugin.h",
"../b3RobotSimulatorClientAPI_NoDirect.cpp",